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Dependencies:   mbed

Fork of BeautifulMemeProject by James Hilder

main.cpp@12:daa53285b6e4, 2015-10-27 (annotated)

Committer:
jah128
Date:
Tue Oct 27 13:03:10 2015 +0000
Revision:
12:daa53285b6e4
Parent:
11:7b3ee540ba56
Child:
13:f5994956b1ba
Add attraction dance

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jah128 6:ff3c66f7372b 1 /***********************************************************************
jah128 0:8a5497a2e366 2 ** ██████╗ ███████╗██╗███████╗██╗ ██╗ █████╗ ██████╗ ███╗ ███╗ **
jah128 0:8a5497a2e366 3 ** ██╔══██╗██╔════╝██║██╔════╝██║ ██║██╔══██╗██╔══██╗████╗ ████║ **
jah128 0:8a5497a2e366 4 ** ██████╔╝███████╗██║███████╗██║ █╗ ██║███████║██████╔╝██╔████╔██║ **
jah128 0:8a5497a2e366 5 ** ██╔═══╝ ╚════██║██║╚════██║██║███╗██║██╔══██║██╔══██╗██║╚██╔╝██║ **
jah128 0:8a5497a2e366 6 ** ██║ ███████║██║███████║╚███╔███╔╝██║ ██║██║ ██║██║ ╚═╝ ██║ **
jah128 0:8a5497a2e366 7 ** ╚═╝ ╚══════╝╚═╝╚══════╝ ╚══╝╚══╝ ╚═╝ ╚═╝╚═╝ ╚═╝╚═╝ ╚═╝ **
jah128 0:8a5497a2e366 8 ************************************************************************
jah128 0:8a5497a2e366 9 **(C) Dr James Hilder - York Robotics Laboratory - University of York **
jah128 0:8a5497a2e366 10 ***********************************************************************/
jah128 0:8a5497a2e366 11
jah128 6:ff3c66f7372b 12 /// PsiSwarm Beautiful Meme Project Source Code
jah128 10:1b09d4bb847b 13 /// Version 0.2
jah128 6:ff3c66f7372b 14 /// James Hilder, Alan Millard, Homero Elizondo, Jon Timmis
jah128 6:ff3c66f7372b 15 /// University of York
jah128 0:8a5497a2e366 16
jah128 10:1b09d4bb847b 17 /// Include main.h - this includes psiswarm.h all the other necessary core files
jah128 10:1b09d4bb847b 18 #include "main.h"
jah128 9:085e090e1ec1 19
jah128 10:1b09d4bb847b 20 char * program_name = "B-Meme";
jah128 10:1b09d4bb847b 21 char * author_name = "YRL";
jah128 10:1b09d4bb847b 22 char * version_name = "0.2";
jah128 0:8a5497a2e366 23
jah128 6:ff3c66f7372b 24 // IMPORTANT!!!
jah128 6:ff3c66f7372b 25 // Do not call the IR functions at all as they will interfere with the correct operation of this program
jah128 6:ff3c66f7372b 26 // Instead, use the values held in the variables below; they are updated every 500ms
jah128 6:ff3c66f7372b 27
jah128 6:ff3c66f7372b 28 char beacon_found = 0; // This will be a 1 when a beacon was detected during the previous 500ms window
jah128 6:ff3c66f7372b 29 int beacon_heading = 0; // This is the heading from the last time a beacon was detected
jah128 6:ff3c66f7372b 30 char robots_found[8]; // These will be a 1 when the respective robot [excluding self] was detected during the previous 500ms window
jah128 7:ef9ab01b9e26 31 int robots_heading[8]; // These are the headings from the last time the respective robots were detected
jah128 6:ff3c66f7372b 32 unsigned short robots_distance[8]; // This is the maximum sensor value from the last time the respective robot was detected
jah128 6:ff3c66f7372b 33 unsigned short reflected_sensor_data[8]; // The reflected IR values when this robots emitters are on
jah128 6:ff3c66f7372b 34 unsigned short background_sensor_data[8];// The raw IR values when no robot (or beacon) should have its IR on
jah128 6:ff3c66f7372b 35
jah128 12:daa53285b6e4 36 char default_normal_program = 6; // The program to run on turn on (after 'face beacon' program)
jah128 10:1b09d4bb847b 37 char use_recharging_program = 1; // Set to 1 to force robot to run recharging program when battery voltage drops below a threshold
jah128 6:ff3c66f7372b 38 char user_code_debug = 1; // Set to 1 to show terminal messages from "out" function [specific to this code]
jah128 10:1b09d4bb847b 39 char display_debug_inf = 0; // Set to 1 to show debug info about beacon\robots on display [instead of running program info]
jah128 10:1b09d4bb847b 40 char main_program_state; // Index of the currently running program
jah128 10:1b09d4bb847b 41 char program_changed = 0; // Flag to update display when program is changed
jah128 12:daa53285b6e4 42 char program_run_init = 0; // Flag to tell program to run its initialisation on first loop, if neccessary
jah128 10:1b09d4bb847b 43 char success_count = 0; // Flag to indicate the success of a program
jah128 10:1b09d4bb847b 44 char step_cycle = 0; // Alternates between 0 and 1 in successive time-steps
jah128 10:1b09d4bb847b 45 char target_reached = 0; // Flag to indicate if a program target has been reached
jah128 10:1b09d4bb847b 46 char prog_name [17]; // Stores the name of the running program [line 0 on the display]
jah128 10:1b09d4bb847b 47 char prog_info [17]; // Stores information about the current state of the program [line 1 on the display]
jah128 10:1b09d4bb847b 48 char disable_ir_emitters = 0; // Used to disable IR emission during charging etc [use with caution!]
jah128 10:1b09d4bb847b 49 char recharging_state = 0; // Stores the state of the recharging program (0 is not currently running)
jah128 11:7b3ee540ba56 50
jah128 11:7b3ee540ba56 51 float battery_low_threshold = 3.63; // Threshold at which to interrupt program and start recharging routine: suggest 3.55
jah128 11:7b3ee540ba56 52 float battery_high_threshold = 3.97; // Threshold at which to end battery recharging routine and resume normal program: suggest 4.0
jah128 11:7b3ee540ba56 53
jah128 9:085e090e1ec1 54 Ticker main_loop_ticker;
jah128 9:085e090e1ec1 55
jah128 10:1b09d4bb847b 56 ///This is the main loop for the Beautiful Meme code. The code block is run once every 250mS* [with 4Hz beacon] once all the IR samples have been collected.
jah128 9:085e090e1ec1 57 void main_loop()
jah128 9:085e090e1ec1 58 {
jah128 10:1b09d4bb847b 59 if(use_recharging_program == 1)recharging_program();
jah128 9:085e090e1ec1 60 update_display();
jah128 10:1b09d4bb847b 61 if(recharging_state == 0) {
jah128 10:1b09d4bb847b 62 switch(main_program_state) {
jah128 10:1b09d4bb847b 63 case 0: //Case 0 is the initial program: turn to face beacon
jah128 10:1b09d4bb847b 64 if(step_cycle == 0) {
jah128 10:1b09d4bb847b 65 char turn_status = turn_to_bearing(0);
jah128 10:1b09d4bb847b 66 if(turn_status == 0) {
jah128 10:1b09d4bb847b 67 success_count ++;
jah128 10:1b09d4bb847b 68 if(success_count > 1) set_program(default_normal_program);
jah128 10:1b09d4bb847b 69 } else success_count = 0;
jah128 10:1b09d4bb847b 70 }
jah128 10:1b09d4bb847b 71 break;
jah128 10:1b09d4bb847b 72 case 1:
jah128 10:1b09d4bb847b 73 target_reached = 0;
jah128 10:1b09d4bb847b 74 head_to_bearing_program(0);
jah128 10:1b09d4bb847b 75 if(target_reached == 1) set_program(2);
jah128 10:1b09d4bb847b 76 break;
jah128 10:1b09d4bb847b 77 case 2:
jah128 10:1b09d4bb847b 78 target_reached = 0;
jah128 10:1b09d4bb847b 79 head_to_bearing_program(180);
jah128 10:1b09d4bb847b 80 if(target_reached == 1) set_program(1);
jah128 10:1b09d4bb847b 81 break;
jah128 10:1b09d4bb847b 82 case 3:
jah128 10:1b09d4bb847b 83 curved_random_walk_with_interaction_program();
jah128 10:1b09d4bb847b 84 break;
jah128 10:1b09d4bb847b 85 case 4:
jah128 10:1b09d4bb847b 86 straight_random_walk_with_interaction_program();
jah128 10:1b09d4bb847b 87 break;
jah128 10:1b09d4bb847b 88 case 5:
jah128 10:1b09d4bb847b 89 find_space_program();
jah128 10:1b09d4bb847b 90 break;
jah128 12:daa53285b6e4 91 case 6:
jah128 12:daa53285b6e4 92 clustering_program(0);
jah128 12:daa53285b6e4 93 break;
jah128 10:1b09d4bb847b 94 }
jah128 9:085e090e1ec1 95 }
jah128 9:085e090e1ec1 96 step_cycle=1-step_cycle;
jah128 9:085e090e1ec1 97 }
jah128 9:085e090e1ec1 98
jah128 1:f6356cf1cefc 99 ///Place user code here that should be run after initialisation but before the main loop
jah128 6:ff3c66f7372b 100 void user_code_setup()
jah128 12:daa53285b6e4 101 {
jah128 9:085e090e1ec1 102 wait(0.8);
jah128 9:085e090e1ec1 103 display.clear_display();
jah128 9:085e090e1ec1 104 display.set_position(0,0);
jah128 9:085e090e1ec1 105 display.write_string("BEAUTIFUL MEME");
jah128 9:085e090e1ec1 106 display.set_position(1,0);
jah128 9:085e090e1ec1 107 display.write_string(" PROJECT");
jah128 9:085e090e1ec1 108 wait(0.2);
jah128 6:ff3c66f7372b 109 out("------------------------------------------------------\n");
jah128 6:ff3c66f7372b 110 out("Beautiful Meme Project Demo Code \n");
jah128 6:ff3c66f7372b 111 out("------------------------------------------------------\n");
jah128 6:ff3c66f7372b 112 locate_beacon();
jah128 6:ff3c66f7372b 113 while(beacon_found == 0) {
jah128 9:085e090e1ec1 114 wait(0.5);
jah128 6:ff3c66f7372b 115 locate_beacon();
jah128 6:ff3c66f7372b 116 }
jah128 6:ff3c66f7372b 117 start_infrared_timers();
jah128 9:085e090e1ec1 118 main_loop_ticker.attach_us(&main_loop,BEACON_PERIOD * 10);
jah128 10:1b09d4bb847b 119 set_program(0);
jah128 9:085e090e1ec1 120 set_leds(0x00,0x00);
jah128 10:1b09d4bb847b 121 set_center_led(3,0.5);
jah128 9:085e090e1ec1 122 display.clear_display();
jah128 9:085e090e1ec1 123 display.set_position(0,0);
jah128 9:085e090e1ec1 124 display.write_string("BEACON FOUND AT");
jah128 9:085e090e1ec1 125 display.set_position(1,0);
jah128 9:085e090e1ec1 126 char degrees_string[16];
jah128 9:085e090e1ec1 127 sprintf(degrees_string,"%d DEGREES",beacon_heading);
jah128 9:085e090e1ec1 128 display.write_string(degrees_string);
jah128 0:8a5497a2e366 129 }
jah128 0:8a5497a2e366 130
jah128 1:f6356cf1cefc 131 /// Code goes here to handle what should happen when the user switch is pressed
jah128 0:8a5497a2e366 132 void handle_switch_event(char switch_state)
jah128 0:8a5497a2e366 133 {
jah128 6:ff3c66f7372b 134 /// Switch_state = 1 if up is pressed, 2 if down is pressed, 4 if left is pressed, 8 if right is pressed and 16 if the center button is pressed
jah128 1:f6356cf1cefc 135 /// NB For maximum compatability it is recommended to minimise reliance on center button press
jah128 6:ff3c66f7372b 136
jah128 6:ff3c66f7372b 137 //pc.printf("User switch code block: %d\n",switch_state);
jah128 0:8a5497a2e366 138 }
jah128 0:8a5497a2e366 139
jah128 1:f6356cf1cefc 140 /// The main routine: it is recommended to leave this function alone and add user code to the above functions
jah128 6:ff3c66f7372b 141 int main()
jah128 6:ff3c66f7372b 142 {
jah128 1:f6356cf1cefc 143 ///init() in psiswarm.cpp sets up the robot
jah128 0:8a5497a2e366 144 init();
jah128 0:8a5497a2e366 145 user_code_setup();
jah128 0:8a5497a2e366 146 user_code_running = 1;
jah128 0:8a5497a2e366 147 while(1) {
jah128 9:085e090e1ec1 148 wait(1);
jah128 6:ff3c66f7372b 149 }
jah128 6:ff3c66f7372b 150 }
jah128 6:ff3c66f7372b 151
jah128 10:1b09d4bb847b 152 char * get_program_name(int index)
jah128 10:1b09d4bb847b 153 {
jah128 10:1b09d4bb847b 154 char * ret_name = new char[17];
jah128 10:1b09d4bb847b 155 switch(index){
jah128 10:1b09d4bb847b 156 case 0:
jah128 10:1b09d4bb847b 157 strcpy(ret_name,"FACE BEACON");
jah128 10:1b09d4bb847b 158 break;
jah128 10:1b09d4bb847b 159 case 1:
jah128 10:1b09d4bb847b 160 strcpy(ret_name,"HEAD TO BEACON");
jah128 10:1b09d4bb847b 161 break;
jah128 10:1b09d4bb847b 162 case 2:
jah128 10:1b09d4bb847b 163 strcpy(ret_name,"HEAD TO SOUTH");
jah128 10:1b09d4bb847b 164 break;
jah128 10:1b09d4bb847b 165 case 3:
jah128 10:1b09d4bb847b 166 strcpy(ret_name,"RANDOM WALK 1");
jah128 10:1b09d4bb847b 167 break;
jah128 10:1b09d4bb847b 168 case 4:
jah128 10:1b09d4bb847b 169 strcpy(ret_name,"RANDOM WALK 2");
jah128 10:1b09d4bb847b 170 break;
jah128 10:1b09d4bb847b 171 case 5:
jah128 10:1b09d4bb847b 172 strcpy(ret_name,"FIND SPACE");
jah128 10:1b09d4bb847b 173 break;
jah128 12:daa53285b6e4 174 case 6:
jah128 12:daa53285b6e4 175 strcpy(ret_name,"CLUSTERING");
jah128 12:daa53285b6e4 176 break;
jah128 10:1b09d4bb847b 177 }
jah128 10:1b09d4bb847b 178 return ret_name;
jah128 10:1b09d4bb847b 179 }
jah128 10:1b09d4bb847b 180
jah128 10:1b09d4bb847b 181 void set_program(int index)
jah128 10:1b09d4bb847b 182 {
jah128 10:1b09d4bb847b 183 main_program_state = index;
jah128 10:1b09d4bb847b 184 program_changed = 1;
jah128 12:daa53285b6e4 185 program_run_init = 1;
jah128 10:1b09d4bb847b 186 strcpy(prog_info,"");
jah128 10:1b09d4bb847b 187 strcpy(prog_name,get_program_name(index));
jah128 10:1b09d4bb847b 188 }
jah128 10:1b09d4bb847b 189
jah128 10:1b09d4bb847b 190 void set_program_info(char * info)
jah128 10:1b09d4bb847b 191 {
jah128 10:1b09d4bb847b 192 strcpy(prog_info,info);
jah128 10:1b09d4bb847b 193 program_changed = 1;
jah128 10:1b09d4bb847b 194 }
jah128 9:085e090e1ec1 195
jah128 9:085e090e1ec1 196 void update_display()
jah128 9:085e090e1ec1 197 {
jah128 10:1b09d4bb847b 198 if(program_changed == 1) {
jah128 10:1b09d4bb847b 199 program_changed = 0;
jah128 9:085e090e1ec1 200 display.clear_display();
jah128 10:1b09d4bb847b 201
jah128 10:1b09d4bb847b 202 if(display_debug_inf==1) display_debug_info();
jah128 10:1b09d4bb847b 203 else{
jah128 10:1b09d4bb847b 204 display.set_position(0,0);
jah128 10:1b09d4bb847b 205 display.write_string(prog_name);
jah128 9:085e090e1ec1 206 }
jah128 10:1b09d4bb847b 207 display.set_position(1,0);
jah128 10:1b09d4bb847b 208 display.write_string(prog_info);
jah128 9:085e090e1ec1 209 }
jah128 9:085e090e1ec1 210 }
jah128 9:085e090e1ec1 211
jah128 9:085e090e1ec1 212 void display_debug_info()
jah128 9:085e090e1ec1 213 {
jah128 9:085e090e1ec1 214 char disp_line[16] = "- - - - - - - -";
jah128 9:085e090e1ec1 215 if(beacon_found==1)disp_line[0]='B';
jah128 10:1b09d4bb847b 216 for(int i=1; i<8; i++) {
jah128 10:1b09d4bb847b 217 if(robots_found[i])disp_line[((i)*2)]=48+i;
jah128 9:085e090e1ec1 218 }
jah128 10:1b09d4bb847b 219 display.set_position(0,0);
jah128 9:085e090e1ec1 220 display.write_string(disp_line);
jah128 9:085e090e1ec1 221 }
jah128 9:085e090e1ec1 222
jah128 6:ff3c66f7372b 223 /// Verbose output
jah128 6:ff3c66f7372b 224 void out(const char* format, ...)
jah128 6:ff3c66f7372b 225 {
jah128 6:ff3c66f7372b 226 char buffer[256];
jah128 6:ff3c66f7372b 227 if (debug_mode) {
jah128 6:ff3c66f7372b 228 va_list vl;
jah128 6:ff3c66f7372b 229 va_start(vl, format);
jah128 6:ff3c66f7372b 230 vsprintf(buffer,format,vl);
jah128 6:ff3c66f7372b 231 if(user_code_debug == 1) pc.printf("%s", buffer);
jah128 6:ff3c66f7372b 232 va_end(vl);
jah128 0:8a5497a2e366 233 }
jah128 0:8a5497a2e366 234 }